ContactForceFilterParticipant.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
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tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
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material unless having a written signed agreement with Algoryx Simulation AB, or
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or having purchased a valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#pragma once
 
#include <agxCollide/Geometry.h>
#include <agx/RigidBody.h>
 
namespace agxCollide
{
  class Space;
}
 
namespace agx
{
  namespace detail
  {
    class ContactForceFilterParticipant
    {
      public:
        ContactForceFilterParticipant();
        ContactForceFilterParticipant(agx::RigidBody& body);
        ContactForceFilterParticipant(agxCollide::Geometry& geometry);
 
        agx::RigidBody* getBody();
        agxCollide::Geometry* getGeometry();
 
        bool isValid() const;
 
        static agxCollide::GeometryContactVector getContacts(
          ContactForceFilterParticipant& lhs, ContactForceFilterParticipant& rhs, agxCollide::Space& space);
 
      private:
        agx::RigidBodyObserver m_body;
        agxCollide::GeometryObserver m_geometry;
    };
  }
}